/**
  ******************************************************************************
  * @file           : pose_task.h
  * @author         : Tessia
  * @brief          : None
  * @attention      : None
  * @date           : 2024/2/13
  ******************************************************************************
  */



#ifndef SENTRY_LEFT_GIMBAL_POSE_TASK_H
#define SENTRY_LEFT_GIMBAL_POSE_TASK_H

#include "DJI_motor_driver.h"
#include "drv_dr16.h"
#include "task_gyro.h"
#include "communicate_task.h"

const float PITCH_MIN = -0.88; //编码器
const float PITCH_MAX = -0.71; //编码器


const float YAW_MAX = 0.558;
const float YAW_MIN = 0.05;
const float YAW_FORWARD_ROUNDS = 0.171f;

const float YAW_MINI_CAMERA_MAX = 0.36;
const float YAW_MINI_CAMERA_MIN = 0.19;


const float YAW_RIGHT_OFFSET = 0.05;


typedef struct
{
    float Yaw;
    float Pitch;
}GyroDataStruct;

typedef struct{
    GyroDataStruct GyroData;
    uint32_t time_stamp;
}StampDataStruct;



void GyroDataGet();

#ifdef __cplusplus
extern "C" {
#endif
//C

void pitch_task(void *argument);
void yaw_task(void *argument);


#ifdef __cplusplus
}
#endif
//C++

#endif //SENTRY_LEFT_GIMBAL_POSE_TASK_H
